[1] Fields Inst Res Math Sci, Toronto, ON M5T 3J1, Canada
[2] Ferdowsi Univ Mashhad, Mech Engn Dept, Mashhad, Iran
[3] Ferdowsi Univ Mashhad, Ctr Excellence Modelling & Control Syst, CEMCS, Mashhad, Iran
[4] Univ Lincoln, Sch Engn, Brayford Pool LN6 7TS, England
[5] Pusan Natl Univ, Sch Mech Engn, Pusan 609735, South Korea